Abstract
In this study, we developed a tail sitter type VTOL aerial robot, and a basic control system. The VTOL aircraft has advantages of both the rotorcraft and the fixed-wing aircraft. The tail sitter type VTOL aircraft doesn't need an extra actuator for the VTOL action like the tilt rotor type. On the other hand, because the attitude change is large, the control is difficult. The control of the VTOL aerial robot is roughly divided into three phases. The first is the take-off and landing, the second is the transition flight, and the third is the horizontal cruse flight. As the first step for controlling these three phases, we developed and experimented in the hovering control that is a basic maneuver during the take-off and landing.
